Electronically steerable endoscope

ABSTRACT

A multiple view endoscope for providing &#34;on command&#34; images of a plurality of different fields of view surrounding the distal end of the endoscope without having to move the endoscope from an initially established position in order to access the different fields of view. A multiplicity of image capturing means are disposed in an array on the distal end to permit the operator to select and view either any one of, or any combination of, the multiple views provided by the multiplicity of image capturing means.

FIELD OF THE INVENTION

This invention relates to viewing devices in general, and moreparticularly to endoscopes and the like.

BACKGROUND OF THE INVENTION

Endoscopic viewing devices are well known in the art. In general, suchdevices are used to view the interior of limited access spaces such asbody cavities, the interiors of complex machinery, etc. Endoscopicviewing devices generally comprise an elongated shaft having a distalend and a proximal end, and at least one internal passageway extendingbetween the distal end and the proximal end. The shaft may be rigid orflexible, depending on the particular application involved. Imagecapturing means extend through the shaft's at least one internalpassageway and are adapted to capture an image of a selected regionlocated substantially adjacent to the distal end of the shaft, and toconvey that image to a viewing device disposed at the proximal end ofthe shaft. In order to assist viewing, illumination means are alsotypically provided on the endoscope. The illumination means also extendthrough the shaft's at least one internal passageway and are adapted toproject light onto the region to be viewed by the image capturing means.

The image capturing means commonly utilize one of several differentarrangements to capture an image at the distal end of the shaft and toconvey it to a viewing device located at the proximal end of the shaft.

In one arrangement, the image capturing means comprise a bundle of fiberoptic filaments extending through the shaft's at least one internalpassageway. An appropriate lens is positioned at the distal end of theshaft to focus the desired image onto the distal end of the fiber opticbundle. A conventional optical viewer or eyepiece is positioned at theproximal end of the shaft to receive the image conveyed to the proximalend of the fiber optic bundle. Alternatively, an appropriate imagesensor, such as a charge coupled device ("CCD") element or video tube,may be positioned at the proximal end of the shaft to receive the imageconveyed to the proximal end of the fiber optic bundle. Wires thenconnect the image sensor to an adjacent viewing device.

In a second arrangement, the image capturing means comprise a CCDelement disposed at the distal end of the shaft. An appropriate lensfocuses the desired image onto the CCD element's light-receivingsurface, and wires extend through the shaft's at least one internalpassageway to connect the endoscope's CCD element to a viewing devicelocated adjacent to the proximal end of the shaft.

In a third arrangement, the image capturing means comprise a so-calledrod-lens system. In this embodiment, a series of rod lens elements arearranged within the shaft's at least one internal passageway so as tocapture the desired image at the distal end of the shaft and convey itto the proximal end of the shaft. A conventional optical viewer oreyepiece is positioned at the proximal end of the shaft to receive theimage which is conveyed to the proximal end of the rod-lens system.Alternatively, an appropriate image sensor, such as a charge coupleddevice ("CCD") element or video tube, may be positioned at the proximalend of the shaft to receive the image conveyed to the proximal end ofthe rod-lens system. Wires then connect the image sensor to an adjacentviewing device.

The illumination means commonly comprise apparatus for conveying lightfrom a light source disposed at the proximal end of the shaft to an exitpoint located at the distal end of the shaft. For example, theillumination means frequently comprise a bundle of fiber optic filamentsextending through the shaft's at least one internal passageway.

In practice, endoscopic viewing devices have taken on several commonforms. More specifically, endoscopic viewing devices have been designedsuch that either (i) the image capturing means open onto the distal endof the shaft so as to face distally therefrom; (ii) the image capturingmeans open onto the distal end of the shaft so as to face outwardlytherefrom at fixed or movable oblique angles; (iii) the image capturingmeans are disposed relative to the distal end of the shaft as set forthin categories (i) or (ii) above and the distal end of the shaft isitself deflectable relative to its longitudinal axis (i.e., the shaft is"steerable"); (iv) the image capturing means open onto the side wall ofthe shaft substantially adjacent to its distal end surface; or (v) thedistal end of the shaft is affixed to a surgical instrumentsubstantially adjacent to the working end of the surgical instrument.Examples of endoscopes exhibiting the characteristics of theaforementioned category (i) are shown in the following U.S. patents:

    ______________________________________                                        U.S. Pat. No.  Issued      To                                                 ______________________________________                                        1,345,406      7/6/20      Rimmer                                             3,581,738      6/1/71      Moore                                              4,245,624      1/20/81     Komiya                                             4,419,987      12/13/83    Ogiu                                               4,445,892      5/1/84      Hussein et al.                                     4,461,283      7/24/84     Doi                                                4,606,330      8/19/86     Bonnet                                             4,617,915      10/21/86    Arakawa                                            4,641,912      2/10/87     Goldenberg                                         4,662,368      5/5/87      Hussein et al.                                     4,672,963      6/16/87     Barken                                             4,718,406      1/12/88     Bregman et al.                                     4,740,047      4/26/88     Abe et al.                                         4,770,653      9/13/88     Shturman                                           4,788,975      12/6/88     Shturman et al.                                    4,798,193      1/17/89     Giesy et al.                                       4,874,371      10/17/89    Comben et al.                                      4,887,600      12/19/89    Watson et al.                                      4,899,733      2/13/90     DeCastro et al.                                    ______________________________________                                    

Still another example of an endoscope exhibiting the characteristics ofthe aforementioned category (i) is shown in Soviet Union Patent DocumentNo. SU 1020-124-A dated Mar. 27, 1981.

All of the foregoing patents are incorporated herein by reference.

Examples of endoscopes exhibiting the characteristics of theaforementioned category (ii) are shown in the following U.S. patents:

    ______________________________________                                        U.S. Pat. No.  Issued      To                                                 ______________________________________                                        4,175,545      11/27/79    Termanini                                          4,418,688      12/6/83     Loeb                                               4,784,132      11/15/88    Fox et al.                                         4,800,876      1/31/89     Fox et al.                                         5,127,393      7/7/92      McFarlin et al.                                    ______________________________________                                    

All of the foregoing patents are also incorporated herein by reference.

Examples of endoscopes exhibiting the characteristics of theaforementioned category (iii) are shown in the following U.S. patents:

    ______________________________________                                        U.S. Pat. No.  Issued      To                                                 ______________________________________                                        3,886,933      6/3/75      Mori et al.                                        4,648,892      3/10/87     Kittrell et al.                                    4,669,467      6/2/87      Willett et al.                                     4,911,148      3/27/90     Sosnowski et al.                                   4,996,974      3/5/91      Clariei                                            5,083,549      1/28/92     Cho et al.                                         ______________________________________                                    

All of the foregoing patents are also incorporated herein by reference.

Examples of endoscopes exhibiting the characteristics of theaforementioned category (iv) are shown in the following U.S. patents:

    ______________________________________                                        U.S. Pat. No.  Issued      To                                                 ______________________________________                                        4,277,168      7/7/81      Oku                                                4,375,818      3/8/83      Suwaki et al.                                      4,699,463      10/13/87    D'Amelio et al.                                    4,905,667      3/6/90      Foerster et al.                                    ______________________________________                                    

More particularly, the Oku patent shows a side view endoscope which isdesigned to be rotated about its longitudinal axis by a pair ofparallel, rigid wires which extend through the endoscope's shaft and areaffixed to the distal end of the shaft. A first bundle of fiber opticfilaments (i.e., the illumination means) conveys light from a lightsource located adjacent to the proximal end of the shaft to a firstopening formed in the side wall of the shaft adjacent to its distal endsurface. A second bundle of fiber optic filaments (i.e., the imagecapturing means) gathers an image from a mirror and lens arrangementdisposed at a second opening located in the side wall of the shaftadjacent to the first opening, and conveys the same to a viewing devicelocated at the proximal end of the shaft. The rotational position of theshaft is tracked relative to an outer sheath by third and fourth bundlesof fiber optic filaments, which extend from the proximal end of theshaft to a third opening formed in the side wall of the shaft. The thirdopening is spaced proximally from the first and second openings andfaces the interior of the outer sheath. The third bundle of fiber opticfilaments is used to illuminate the portion of the outer sheath locatedadjacent to the shaft's third opening, and the fourth bundle of fiberoptic filaments is used to view the portion of the outer sheath locatedadjacent to the shaft's third opening. Using the third and fourthbundles of fiber optic filaments, the operator can monitor rotation ofthe shaft's third opening past graduated markings on the inner surfaceof the outer sheath, etc. so as to determine the rotational position ofthe shaft relative to the outer sheath.

The Suwaki et al. patent shows a side view endoscope including anultrasonic diagnosis system. With this endoscope, side viewing isprovided by means similar to those provided by the Oku patent, i.e., afirst bundle of fiber optic filaments (i.e., the illumination means)projects light out of a first opening in the shaft, and a second bundleof fiber optic filaments (i.e., the image capturing means) gathers animage from a mirror and lens arrangement disposed at a second opening inthe shaft and conveys the same to the proximal end of the shaft. Inaddition, a third opening is provided in the side wall of the endoscopein adjacent, axially-spaced relation to the first and second openings.An ultrasonic wave generator is adapted to emit ultrasonic waves out ofthe shaft's third opening and against adjacent tissue as that tissue isilluminated and viewed by the first and second bundles of fiber opticfilaments, respectively.

The D'Amelio patent shows an endoscope of the type exhibiting thecharacteristics of the aforementioned category (i), i.e., an endoscopeadapted for distally directed viewing. In addition, however, a capmember is also provided at the distal end of the shaft. This cap memberis rotatable relative to the shaft and contains both an axially directedpassageway and a generally L-shaped passageway having a mirror disposedat the inside corner of the "L". As a result of this construction, whenthe cap is turned so that its axial passageway is aligned with theendoscope's viewing system, the device allows an axially positionedfield to be viewed. At the same time, when the cap is turned so that itsL-shaped passageway is aligned with the endoscope's viewing system, thedevice allows a radially positioned field to be viewed.

The Foerster et al. patent discloses a side view duodenoscope, but doesnot specifically disclose the means by which the side viewing capabilityof the scope is provided.

All of the foregoing patents are also incorporated herein by reference.

Finally, an example of an endoscope exhibiting the characteristics ofthe aforementioned category (v) is shown in U.S. Pat. No. 4,759,348issued Jul. 26, 1988 to Cawood.

This patent is also incorporated herein by reference.

In view of the foregoing, it will be appreciated that some endoscopicviewing systems currently exist which permit the operator to view fieldslocated in axial alignment with the distal end of the shaft, while otherendoscopic viewing systems currently exist which permit the operator toview fields located at various angles to the longitudinal axis of theendoscope.

In addition to the foregoing, endoscopic viewing devices have also beendeveloped for stereoscopically viewing objects located in axialalignment with the distal end of the endoscope. These devices generallyutilize a pair of viewing systems like those discussed above withrespect to the aforementioned category (i) devices, but with the twoviewing systems arranged so as to have the same or largely overlappingfields of view. The images from each of the two viewing systems arecombined in the endoscope's display so as to provide the operator with astereoscopic view of any objects and/or structures located within thecommon viewing field.

Unfortunately, none of the foregoing endoscopic viewing systems isentirely satisfactory.

More particularly, it should be appreciated that the field of view forall of the foregoing endoscopic viewing devices is generally quitelimited in scope, relative to the size of the anatomy or region which istypically under examination. Fortunately, in many situations theoperator can compensate for this simply by moving the endoscope aboutthe surgical site or other volume of interest. For example, the operatormay move the entire endoscope proximally or distally, or the operatormay rotate the scope about its longitudinal axis, or the operator maycombine these two actions. It has been found in many applications thatby moving the endoscope about in this way, substantially the entiresurgical site can be viewed through the endoscope.

In some situations such as those where the primary goal of a procedureis visual examination, the foregoing capabilities may be adequate. Inother situations such as laparoscopic surgical procedures, however, itis generally difficult for the surgeon to simultaneously manipulate boththe surgical instruments needed to perform the surgical procedure andthe endoscope needed to view the procedure. As a result, another personmust generally assist the surgeon by manipulating either one or more ofthe surgical instruments and/or the endoscope in coordination with thesurgeon.

The device discussed above with respect to the aforementioned category(v) attempts to alleviate this problem by attaching the viewing head ofthe endoscope directly onto the working end of the surgical instrument.Unfortunately, however, this arrangement is not totally satisfactory.For one thing, it does not provide the surgeon with a view of anyobjects and/or structures which may be somewhat removed from the workingend of the surgical instrument, nor does it permit the surgeon to have a"bird's eye" (or "third person") view of the surgical instrument whilethat instrument is being used in surgery.

Furthermore, in many applications it may be difficult or even impossibleto move the endoscope about the surgical site so as to compensate forthe endoscope's limited field of view. For example, the surgical sitemight be a highly confined region or include hard to reach locations.Also, the surgical site might be surrounded by delicate tissue such thatendoscope movement should be minimized.

Accordingly, an improved endoscopic viewing system is needed which canprovide "on command" images of one or more fields of view surroundingthe distal end of the endoscope, without the need for any physicalmanipulation of the endoscope whatsoever from an initially establishedposition. The provision of such a device would minimize or eliminate theneed to move the endoscope about the surgical site during a procedure,while still providing the surgeon with an excellent view of the entiresurgical site and any objects and/or structures located in the vicinityof the surgical site.

Objects Of The Invention

Accordingly, one object of the present invention is to provide animproved endoscope which includes image capturing means for providing"on command" images of a plurality of different fields of viewsurrounding the distal end of the endoscope, without having to move theendoscope from an initially established position in order to access thedifferent fields of view.

Another object of the present invention is to provide a "multiple view"endoscope which comprises viewing means adapted to allow an operator toselect and view either any one of, or any combination of, the multipleviews provided by the endoscope.

Still another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, wherein each of theimage capturing means is connected to viewing means located adjacent tothe proximal end of the endoscope by connecting means extending throughthe shaft of the endoscope.

Yet another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, and a plurality ofillumination means also associated with the distal end of the endoscope,wherein each of the image capturing means is adapted to capture an imageof any objects and/or structures located within a predetermined field ofview relative to the distal end of the endoscope and to transmit thatimage to the proximal end of the endoscope, and wherein the plurality ofillumination means are adapted to project light onto the various fieldsof view of the image capturing means.

Still another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, and a plurality ofillumination means associated with the distal end of the endoscope,wherein one of the illumination means is paired with each one of theimage capturing means so as to properly illuminate the field of view forthat image capturing means.

Another object of the present invention is to provide a "multiple view"endoscope which comprises a plurality of non-visual sensor meansassociated with the distal end of the endoscope, wherein each non-visualsensor means comprises ultrasound sensors for providing additionalnon-visual information regarding any objects and/or structures able tobe viewed by the endoscope.

And another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of non-visual sensor meansassociated with the distal end of the endoscope, wherein each non-visualsensor means comprises electromagnetic transceivers, temperaturesensors, chemical sensors, etc. for providing additional non-visualinformation regarding any objects and/or structures within the samegeneral region as the distal end of the endoscope.

Still another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, wherein each of theimage capturing means comprises at least one CCD element, the at leastone CCD element being adapted to capture an image of any objects and/orstructures located within the predetermined field of view for thatparticular image capturing means and to convert that image intocorresponding electrical signals, and further wherein the endoscopecomprises connecting means for conveying those corresponding electricalsignals through the shaft of the endoscope to image processing meansdisposed adjacent to the proximal end of the endoscope.

Yet another object of the present invention is to provide a "multipleview" endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, and a plurality ofillumination means associated with the distal end of the endoscope,wherein each of the image capturing means and each of the illuminationmeans is connected to the proximal end of the endoscope by separateconnecting means extending through the endoscope's shaft.

Another object of the present invention is to provide a "multiple view"endoscope which comprises a plurality of image capturing meansassociated with the distal end of the endoscope, and a plurality ofillumination means associated with the distal end of the endoscope,wherein each of the image capturing means and each of the illuminationmeans is connected to the proximal end of the endoscope by separateconnecting means extending through the endoscope's shaft, and furtherwherein the endoscope's shaft comprises a plurality oflongitudinally-extending internal passageways, and each of theconnecting means extends from its associated image capturing means orits associated illumination means to the proximal end of the endoscopethrough a preselected one of said interior passageways.

Still another object of the present invention is to provide a "multipleview" endoscope comprising a plurality of image capturing meansassociated with the distal end of the endoscope, a plurality ofillumination means associated with the distal end of the endoscope, anda plurality of non-visual sensor means associated with the distal end ofthe endoscope, wherein one of the image capturing means is grouped withone of the illumination means and one of the non-visual sensor means soas to form a distinct group directed approximately in the same directionrelative to the distal end of the endoscope, and further wherein theendoscope comprises viewing means associated with the proximal end ofthe endoscope for receiving and displaying image information receivedfrom one or more of the endoscope's image capturing means, along withnon-visual information received from one or more of the endoscope'snon-visual sensor means.

Still another object of the present invention is to provide an improvedendoscope which can be used in both medical and industrial applications.

And another object of the present invention is to provide an endoscopewhich comprises a plurality of image capturing means associated with thedistal end of the endoscope, wherein the plurality of image capturingmeans may or may not all be of the same type as one another.

Yet another object of the present invention is to provide an improvedendoscope wherein the endoscope's field of view can be altered withoutphysically moving the endoscope from an established position.

SUMMARY OF THE INVENTION

These and other objects are addressed by the present invention, whichcomprises a novel "multiple-view" endoscope and the use of the same. The"multiple-view" endoscope comprises an elongated shaft having a distalend terminating in a distal end surface, a proximal end, and an outerside wall extending between the distal end and the proximal end. Theshaft may or may not be flexible, depending on the particularapplication involved. One or more internal passageways extend from thedistal end of the shaft to the proximal end of the shaft.

A plurality of image capturing means are associated with the distal endof the shaft, i.e., they are either disposed on the distal end surfaceof the shaft so as to face outboard therefrom, and/or they are disposedon the outer side wall of the shaft so as to face outboard therefrom.Preferably at least some of the image capturing means are disposed onthe outer side wall of the shaft.

Each of the image capturing means comprises means for capturing an imageof any objects and/or structures located within a predetermined field ofview relative to the distal end of the shaft. Preferably a sufficientnumber of image capturing means are provided so that their individualfields of view will collectively provide complete coverage of the regionsurrounding the distal end of the endoscope.

Each of the image capturing means may comprise a charge coupled device("CCD") element and an associated lens means where the CCD element isadapted to capture an image of any objects and/or structures locatedwithin the field of view established by its associated lens means and toconvert the same into corresponding electrical signals. Connecting meansextend through the shaft of the endoscope to convey these correspondingelectrical signals to image processing means disposed adjacent to theproximal end of the endoscope, for display to the operator of thesystem.

Alternatively, each of the image capturing means may comprise a bundleof elongated fiber optic filaments extending between an appropriate lensmeans disposed at the distal end of the endoscope and the proximal endof the endoscope. These fiber optic filaments are adapted to capture animage of any objects and/or structures located within the field of viewestablished by the lens means and to deliver the same to the proximalend of the endoscope. At the proximal end of the endoscope, the imageconveyed by the fiber optic filaments is received by a CCD element whichis adapted to convert that image into corresponding electrical signals.These corresponding electrical signals are then transmitted toappropriate image processing means also located at the proximal end ofthe endoscope, for display to the operator of the system.

Or each of the image capturing means may comprise a so-called rod-lenssystem in which a series of rod-lens elements are arranged within theshaft's at least one internal passageway so as to capture the desiredimage at the distal end of the shaft and convey it to the proximal endof the shaft. At the proximal end of the shaft, the image conveyed bythe rod-lens system is received by a CCD element which is adapted toconvert that image into corresponding electrical signals. Thesecorresponding electrical signals are then transmitted to appropriateimage processing means also located at the proximal end of theendoscope, for display to the operator of the system.

If desired, the endoscope's image capturing means may all be of the sametype. Alternatively, the endoscope's image capturing means may comprisetwo or more different types of devices.

The image processing means generally comprise a preprogrammed digitalcomputer. The image processing means are adapted to receive the imageinformation conveyed by the plurality of image capturing means and toconvey the same to a display screen and/or other visual output means fordisplay to the operator of the system and/or to a recording device suchas a VCR for subsequent viewing, or to computer memory for subsequentprocessing and/or analysis. The display may be of a single imageassociated with a selected one of the image capturing means, or it maybe of a tiled plurality of such images associated with two or moredifferent image capturing means, or it may be of an overlappingcombination of such images associated with two or more different imagecapturing means. The latter alternative is particularly useful in thosesituations where the viewing field for a selected one of the imagecapturing means significantly overlaps the viewing field of at least oneadjacent image capturing means. In such a case, the overlapping imagescan be appropriately formatted and displayed so as to provide astereoscopic image of any objects and/or structures located in theoverlapping fields of view.

Illumination for the viewing fields of the endoscope's various imagecapturing means may be provided by a separate and distinct lightinginstrument if desired. More preferably, however, the endoscope of thepresent invention also comprises illumination means for projecting lightonto any objects and/or structures located in its various viewingfields. The illumination means generally comprise at least one source oflight adapted to shine outwardly from the distal end of the endoscope soas to illuminate the regions covered by the endoscope's image capturingmeans. The illumination means may comprise a light mounted within thedistal end of the endoscope adjacent to at least one opening formedtherein, with the light being electrically connected to a power sourceat the proximal end of the endoscope by wires extending through theshaft. More preferably, however, the illumination means comprise a lightsource located at the proximal end of the endoscope, and a plurality ofelongated fiber optic filaments extending through the shaft from thelight source to at least one opening formed in the distal end of theendoscope. In this way light from the light source will enter theproximal end of the fiber optic filaments and be transmitted along thefilaments so as to exit the endoscope through the at least one openingformed in the distal end of the shaft. Preferably, each of the at leastone openings also includes a light diffusing lens associated therewith,so that light exiting from the distal ends of the fiber optic filamentswill properly illuminate a predetermined volume extending outwardly fromeach of the at least one opening formed in the distal end of theendoscope.

In one preferred embodiment of the invention, the illumination means arearranged so that one light projecting opening is associated with eachimage capturing means, such that the field of view for each imagecapturing means is properly illuminated. The system may-also include amethod for selectively activating Only those light sources illuminatingthose fields of view currently being monitored.

In addition to the foregoing, one or more non-visual sensor means mayalso be provided on the distal end of the endoscope. For example, insome cases it may be advantageous to project ultrasound signals into theregions monitored by the image capturing means, and to read thereflected signals so as to obtain non-visual information regarding anyobjects and/or structures located within the viewing fields of the imagecapturing means. In this respect it is to be appreciated that suchnon-visual sensor means might include ultrasound sensors, temperaturesensors, pressure sensors, chemical sensors, radiation sensors or anyother type of non-visual sensor desired for a particular application.Where a plurality of non-visual sensor means are provided on theendoscope, the various non-visual sensor means may all be of the sametype, or they may include a variety of different types. In one preferredembodiment, the endoscope comprises a plurality of non-visual sensormeans, with one of the non-visual sensor means being grouped with eachone of the image capturing means so as to cover a common region aboutthe distal end of the endoscope.

The endoscope's image capturing means and, to the extent that they areprovided, its illumination means and its non-visual sensor means, may bedisposed about the distal end of the endoscope in a variety of differentconfigurations.

Thus, in one embodiment of the invention, the endoscope comprises aplurality of image capturing means, a plurality of illumination means,and a plurality of non-visual sensor means, wherein each of the imagecapturing means has an illumination means and a non-visual sensor meansgrouped therewith. Each of these groupings of one image capturing means,one illumination means and one non-visual sensor means is spaced axiallyand circumferentially from every other grouping, and the respectivegroupings are sufficient in number, so as to provide substantiallycomplete coverage of the region surrounding the distal end of theendoscope. The respective fields of view for these groupings may or maynot overlap, as desired.

In another embodiment of the invention, the endoscope comprises aplurality of image capturing means arranged in a semisphericalconfiguration at the distal end of the shaft.

An embodiment is also disclosed wherein the image capturing meanscomprise a so-called "fisheye" lens (i.e., a lens having an extremelywide field of view, of up to 180 degrees) disposed at the distal end ofthe endoscope, and a CCD element comprising an extensive array of CCDcells, with the CCD element being disposed adjacent to the fisheye lensso as to capture the image collected by the fisheye lens. With thisarrangement, the fisheye lens can be disposed on the distal end of theendoscope so that it is aligned with the shaft's longitudinal axis, orit can be disposed on the distal end of the endoscope so that it isslanted at an oblique angle relative to the longitudinal axis of theendoscope shaft. Alternatively, the CCD element could be disposed at theproximal end of the endoscope, and light from the fisheye lens could beconveyed to the CCD element via fiber optic filaments or a rod-lenssystem, in ways well known in the art. If desired, the image processingmeans can be adapted to correct for any image distortion induced by thevery wide angle nature of the fisheye lens, by using appropriate imageprocessing algorithms.

In another embodiment of the invention, each of the image capturingmeans comprise a so-called "fly's eye" lens array having a plurality ofseparate focusing elements, and a CCD element comprising an extensivearray of CCD cells, with the CCD element being disposed adjacent to thefly's eye lens so as to capture the image collected by the fly's eyelens, with one or more CCD cells being associated with each lensfocusing element. The separate focusing elements may have narrow or widefields of view, such that the fields of view between adjacent focusingelements would be essentially non-overlapping (so that each focusingelement covers a unique region with greater clarity and sharpness) orsignificantly overlapping (so that stereoscopic information is obtained,for example). With this arrangement, a plurality of these imagecapturing means can be disposed about the distal end of the endoscope,or a single image capturing means can be disposed at an oblique anglerelative to the longitudinal axis of the endoscope shaft, or a singleimage capturing means can be disposed semispherically about the distalend of the endoscope.

And in another embodiment of the invention, the image capturing meanscomprises a CCD element comprising a continuous array of CCD cellscircumferentially surrounding the distal end of the endoscope shaft. Inthis alternative, circumferentially spaced illumination means, andcircumferentially spaced non-visual sensor means, preferably flank thearray of CCD cells, with the various elements being disposed in avariety of different configurations.

In each of these embodiments, a large number of different images will besimultaneously generated by the endoscope's numerous image capturingmeans. The system's image processing means allow the operator to selectwhich one or ones of these images will be displayed at any given time.Therefore, in the case of a laparoscopic surgical procedure, forexample, the endoscope of the present invention may be placed into, oradjacent to, the surgical site and then left in place withoutsubstantial further movement throughout the procedure. All of thedifferent views that may thereafter be required by the surgeon may thenbe electronically generated by the system, without substantial furthermovement of the endoscope about the surgical site.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other objects and features of the present invention will bemore fully disclosed or rendered obvious by the following detaileddescription of the preferred embodiments of the invention, which are tobe considered together with the accompanying drawings wherein likenumbers refer to like parts, and further wherein:

FIG. 1 is an illustrative partial side view of an endoscope formed inaccordance with the present invention and including a plurality of imagecapturing means, a plurality of illumination means, and a plurality ofnon-visual sensor means, wherein each image capturing means is groupedwith one illumination means and one non-visual sensor means, with eachrespective grouping being arranged in circumferentially and axiallyspaced relation to one another in the side wall of the endoscope at thedistal end thereof;

FIG. 2 is an illustrative cross-sectional view taken along line 2--2 ofFIG. 1, showing the various connecting means which connect the variousimage capturing means, illumination means and non-visual sensor means tothe proximal end of the endoscope;

FIGS. 3A, 3B and 3C are illustrative views showing various images whichmay be generated by the endoscope of FIG. 1;

FIG. 4 is an illustrative partial side view showing another embodimentof the present invention, wherein the embodiment is generally similar tothe embodiment shown in FIG. 1, except that the fields of view ofadjacent image capturing means slightly overlap one another;

FIGS. 5A, 5B and 5C are illustrative views showing various images whichmay be generated by the endoscope of FIG. 4;

FIG. 6 is an illustrative partial side view showing another embodimentof the present invention, wherein the embodiment is generally similar tothe embodiments shown in FIGS. 1 and 4, except that the fields of viewof adjacent image capturing means significantly overlap one another;

FIGS. 7A, 7B, 7C and 7D are illustrative views showing various imageswhich may be generated by the endoscope of FIG. 6;

FIG. 8 is an illustrative partial side view of the distal end of anendoscope formed in accordance with the present invention, wherein theendoscope has a semispherical distal end surface and a plurality ofimage capturing means located in spaced relationship to one anotherabout that semispherical distal end surface;

FIG. 9 is an illustrative end view of the distal end of the endoscopeshown in FIG. 8;

FIGS. 10A, 10B, 10C and 10D are illustrative views showing variousimages which may be generated by the endoscope of FIGS. 8 and 9;

FIG. 11 is an illustrative side view showing the distal end of stillanother endoscope formed in accordance with the present invention,wherein a fisheye lens is disposed at the distal end of the endoscopeand a substantially planar CCD element is disposed adjacent to thefisheye lens so as to capture the image collected by the fisheye lens;

FIG. 12 is an illustrative cross-sectional view taken along line 12--12of FIG. 11;

FIG. 13 is an illustrative side view showing the distal end of yetanother endoscope formed in accordance with the present invention,wherein a fisheye lens is disposed at the distal end of the endoscope soas to be slanted at an oblique angle relative to the longitudinal axisof the endoscope, and a bundle of fiber optic filaments conveys theimage captured by the fisheye lens to a CCD element disposed at theproximal end of the endoscope;

FIG. 14 is an illustrative cross-sectional view taken along line 14--14of FIG. 13;

FIG. 15 is an illustrative side view showing the distal end of yetanother endoscope formed in accordance with the present invention,wherein the endoscope comprises a plurality of image capturing means,each of which includes a fly's eye lens having a plurality of separatefocusing elements;

FIG. 16 is an illustrative side view showing the distal end of yetanother endoscope formed in accordance with the present invention,wherein the endoscope comprises a single image capturing means includinga fly's eye lens, with the image capturing means being slanted at anoblique angle relative to the longitudinal axis of the endoscope;

FIG. 17 is a view similar to that of FIG. 11, except that the fisheyelens has been replaced by a fly's eye lens, and the substantially planarCCD element has been replaced by a curved CCD element;

FIG. 18 is an illustrative side view showing the distal end of yetanother endoscope formed in accordance with the present invention,wherein axially spaced bands of CCD cells circumferentially surround thedistal portion of the endoscope, each band of CCD cells being flanked bya band of circumferentially spaced illumination means on one sidethereof, and a band of circumferentially spaced non-visual sensor meanson the other side thereof;

FIG. 19 is an illustrative side view showing the distal end of stillanother endoscope formed in accordance with the present invention,wherein the endoscope is generally similar to that shown in Fig. 18,except that the CCD cells cover substantially the entire outer side wallof the distal end of the shaft, and wherein illumination means andnon-visual sensor means extend through the CCD array at spacedlocations;

FIG. 20 is an illustrative side view showing the distal end of yetanother endoscope formed in accordance with the present invention,wherein the endoscope is generally similar to that shown in FIG. 19,except that the illumination means and the non-visual sensor means havebeen omitted;

FIG. 21 is an illustrative block diagram showing how signals fromvarious CCD elements may be multiplexed so as to facilitate theirtransmission from image capturing means located at the distal end of theendoscope to the image processing means located at the proximal end ofthe endoscope;

FIG. 22 is an illustrative side view showing one possible disposition ofan image capturing means relative to the side wall of the endoscope;

FIG. 23 is an illustrative side view showing another possibledisposition of an image capturing means relative to the side wall of theendoscope; and

FIG. 24 is an illustrative side view showing still another possibledisposition of an image capturing means relative to the side wall of theendoscope.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to FIGS. 1 and 2, an endoscope 5 is shown which comprisesone preferred embodiment of the present invention. Endoscope 5 generallycomprises an elongated shaft 10 having a longitudinal axis 12, a distalend 15 terminating in a distal end surface 20, a proximal end 25, and anouter side wall 30 extending between distal end 15 and proximal end 25.Shaft 10 may or may not be flexible, depending on the particularapplication involved. A plurality of interior passageways(representatively shown as concentric passageways 35, 40 and 45 in FIG.2) extend longitudinally through shaft 10.

Endoscope 5 also comprises a multiplicity of image capturing means 55which are disposed about the shaft's distal end 15. Each of the imagecapturing means 55 faces substantially radially outwardly from thedistal end of the shaft, through an opening 60 formed in the shaft'souter side wall 30. Each of the image capturing means 55 is adapted tocapture an image of any objects and/or structures located within apredetermined field of view 65 associated with that image capturingmeans. Preferably a sufficient number of image capturing means 55 areprovided on the distal end of the endoscope so that their individualfields of view 65 will collectively provide substantially completecoverage of the entire region surrounding the distal end of theendoscope.

Each of the image capturing means 55 comprises a charge coupled device("CCD") element 70 and an associated lens means 75. Each CCD element 70is arranged so that its light-receiving surface faces substantiallyradially outwardly through one of the shaft's openings 60. Theassociated lens means 75 for that CCD element is located in, or inassociation with, the same opening 60 so as to establish the effectivefield of view for that CCD element. In this way, each CCD element 70will receive a visual image of any objects and/or structures locatedwithin the field of view 65 established for that CCD element by itsassociated lens means 75.

Each image capturing means 55 is adapted to convert the imageinformation received by its CCD element 70 into corresponding electricalsignals. These electrical signals are transmitted by connecting means 80through the interior of shaft 10 to image processing means 85 which arelocated adjacent to the proximal end of the shaft. Preferably connectingmeans 80 comprise wires which extend between each CCD element 70 andimage processing means 85, with the wires extending through the shaft'sinterior passageway 40 (see FIG.

Endoscope 5 also comprises a plurality of illumination means 90 forproviding illumination for the image capturing means 55. In theembodiment shown in FIGS. 1 and 2, one illumination means 90 is providedfor each image capturing means 55, with that illumination means 90 beinggrouped with its associated image capturing means 55 so as to illuminatethe field of view for that particular image capturing means. Eachillumination means 90 preferably comprises a bundle 95 of elongatedfiber optic filaments. Each bundle 95 of fiber optic filaments extendsfrom the proximal end of the endoscope to an opening 100 located in thedistal end of the endoscope. The opening 100 provided for eachilluminating means 90 is located adjacent to the opening 60 which isprovided for its associated image capturing means 55. In the embodimentshown in FIGS. 1 and 2, each bundle 95 of fiber optic filaments extendsthrough interior passageway 35 (see FIG. 2).

A light source 105 is located adjacent to the proximal ends of fiberoptic bundles 95. Light from light source 105 enters the proximal endsof fiber optic bundles 95 and is transmitted along the length of thebundles to the distal ends thereof, where it exits from the endoscopethrough the various openings 100. Preferably diffusing lens means 110are provided at each opening 100 so as to properly diffuse the lightpassing out of the distal ends of fiber optic bundles 95. In this waythe light provided by each of the illumination means 90 will illuminatethe field of view for the image capturing means 55 which is associatedwith that particular illumination means.

Endoscope 5 also comprises a plurality of non-visual sensor means 115.These non-visual sensor means 115 are adapted to provide additionalnon-visual information about any objects and/or structures located closeto the endoscope's visual sensors. In the embodiment shown in FIGS. 1and 2, one non-visual sensor means 115 is provided for each imagecapturing means 55, with that non-visual sensor means 115 being groupedwith its associated image capturing means 55 so as to provide additionalnon-visual information about any objects and/or structures which may belocated in the field of view for that image capturing means 55. Eachnon-visual sensor means 115 comprises a sensor element 120 which facesoutboard of shaft 10 through an opening 125 formed in the shaft's sidewall 30. Each sensor element 120 is connected by connecting means 127 tosignal processing means 130 which are located at the proximal end of theshaft. Preferably each non-visual sensor element 120 is connected tosignal processing means 130 by a plurality of wires 127, with the wires127 extending through the shaft's interior passageway 45 (see FIG. 2).

The specific type of non-visual sensor element 120 incorporated inendoscope 5 will depend upon the particular application involved. Forexample, in some situations it may be desirable to obtain ultrasoundinformation about any objects and/or structures being viewed by theendoscope through its image capturing means 55. In this case non-visualsensor elements 120 would comprise ultrasound transducers, and signalprocessing means 130 would comprise apparatus of the sort well known inthe art adapted to process the output signals obtained from theultrasound transducers so as to derive meaningful information from thesame. Alternatively, non-visual sensor elements 120 might comprisetemperature sensors, pressure sensors, chemical sensors, radiationsensors and/or any other type or types of sensors appropriate for aparticular application, and signal processing means 130 would thencomprise corresponding apparatus of the sort well known in the artadapted to process the output signals obtained from such other sensorsand derive meaningful information from the same. The output from signalprocessing means 130 is fed into image processing means 85 by connectingmeans 140.

Image processing means 85 are adapted to receive the various imagesgenerated by image capturing means 55 and to visually display the same,one or more at a time, on a display 145. Alternatively, or concurrently,image processing means 85 may also convey those images to a recordingdevice such as a VCR or computer memory. To this end, image processingmeans 85 generally comprise a preprogrammed digital computer andappropriate user interface controls through which the operator maydirect the image processing means. Image processing means 85 areconnected to each of the image capturing means 55 by connecting means80, and image processing means 85 are connected to display 145 byconnecting means 150.

As illustratively shown in FIGS. 3A-3C, the image provided on display145 may comprise a single image generated by a selected one of the imagecapturing means 55, e.g. the image generated by image capturing means55A as shown in FIG. 3A, or the image generated by image capturing means55B as shown in FIG. 3B. Alternatively, the image provided on display145 may comprise a plurality of images generated by selected ones of theimage capturing means 55, all displayed simultaneously in a tiled orseamlessly integrated fashion, e.g. the image provided on display 145may comprise a composite of the images generated by image capturingmeans 55B, 55A, 55F and 55E, as shown in FIG. 3C. It will be appreciatedthat such a composite image may take any one of many different formats,as preferred by the user.

More particularly, as noted above and as illustrated in FIG. 2,connecting means 80 connect image processing means 85 to the outputsignals from each one of the image capturing means 55. Thus, imageprocessing means 85 is able to access any one or ones Of the variousimages generated by the numerous image capturing means, as required togenerate the desired display image. Accordingly, it is a relativelysimple matter, and well within the ability of a person skilled in theart, to construct appropriate image processing means which will select,process and display images obtained from a selected one or ones of theimage capturing means 55, as directed by the operator using appropriateuser interface controls. Furthermore, the selected image or images canbe changed at will by the operator using those same user interfacecontrols, thereby allowing the operator to select whatever field orfields of view as may be desired at any given time. In addition, it willbe appreciated that in the situation where composite images areinvolved, the format of the display can be changed at will by theoperator using those same user interface controls. Thus it will be seenthat, by initially positioning endoscope 5 at a surgical site at theoutset of a procedure, the operator can thereafter electronically selectthe specific field or fields of view which are to be viewed through theendoscope.. As a result, the operator can observe all aspects of thesurgical site without any repositioning of the endoscope.

It is to be appreciated that the non-visual information derived bysignal processing means 130 from non-visual sensor means 115 is also fedto image processing means 85. Using conventional techniques well knownin the art, the image processing means 85 can combine this additionalnon-visual information with the visual images obtained by imagecapturing means 55 so as to supplement or enhance those visual images.By way of example, suppose endoscope 5 is being used inside a knee jointto view meniscal cartilage, and suppose further that non-visual sensormeans 115 comprise ultrasound sensors of the type adapted to determinetissue thickness. In such a case, the visual images obtained by imagecapturing means 55 might be enhanced in image processing means 85 usingthe ultrasound information derived by signal processing means 130. Thus,the visual images obtained by image capturing means 55 might becolor-coded (using the data derived by signal processing means 130) soas to indicate the thickness of the cartilage at different locations.

It will, of course, be appreciated that the endoscope 5 shown in FIGS. 1and 2 can be modified somewhat without departing from the scope of thepresent invention. Thus, for example, in the endoscope 5 shown in FIGS.1 and 2, each of the image capturing means 55 has one illumination means90 and one non-visual sensor means 115 associated with it. However, itwill be appreciated that the various image capturing means 55,illumination means 90 and non-visual sensor means 115 need notnecessarily be grouped together in this way. Thus, for example, thenumber of illumination means 90 and/or the number of non-visual sensormeans 115 can be more or less than the number of image capturing means55, and their placement need not necessarily be grouped with specificimage capturing means. Indeed, to the extent that satisfactoryillumination is already provided at the surgical site, either by aseparate illumination device or by the ambient light at the site,illumination means 90 may even be omitted entirely. Furthermore, to theextent that non-visual information is not desired, non-visual sensormeans 115 can also be omitted entirely.

Furthermore, in the endoscope 5 shown in FIGS. 1 and 2, each of theimage capturing means 55 comprises a CCD element 70 and a lens means 75,where the lens means 75 is placed in an opening 60 formed in the shaft'sside wall 30, and the CCD element 70 is placed immediately adjacent tolens means 75. Connecting means 80 then connect the outputs of CCDelements 70 to image processing means 85. Thus, with this design, theCCD elements 70 are disposed along shaft 10, adjacent to each side wallopening 60. However, if desired, the CCD elements 70 can be moved to theproximal end of shaft 10, and a plurality of fiber optic bundles Can beused to carry an image from a particular lens means 75 to itscorresponding CCD element 70. In such a case these image-carryingbundles could extend through the shaft's interior passageway 40 in muchthe same way that connecting means 80 pass through interior passageway40 in FIG. 2.

Furthermore, with the endoscope 5 shown in FIGS. 1 and 2, a plurality ofimage capturing means 55 are shown. Of course, the precise number andspacing of these image capturing means may be varied in accordance withthe application at hand, without departing from the scope of the presentinvention. In general, and as noted above, it is preferred that theimage capturing means 55 be sufficient in number and spacing so thattheir respective fields of view 65 will collectively providesubstantially complete coverage of the region surrounding the distal endof the endoscope.

In the embodiment shown in FIG. 1, the fields of view 65 for the variousimage capturing means 55 are shown as not overlapping one another. Ofcourse, it will be appreciated that the fields of view 65 may be made tooverlap one another if desired, merely by adjusting the spacing betweenadjacent image capturing means 55 and/or by adjusting the constructionof the lens means 75 placed in front of each CCD element 70.

Thus, for example, FIG. 4 shows another endoscope 155 also formed inaccordance with the present invention. Endoscope 155 is substantiallyidentical to the endoscope 5 previously discussed, except that endoscope155 has its image capturing means 55 positioned, and its lens means 75formed, so that the field of view 65 for each image capturing means 55slightly overlaps the fields of view 65 for its adjacent image capturingmeans 55. As a result of this construction, when the operator moves fromthe field of view for one image capturing means 55A (see FIG. 5A) to thefield of view for an adjacent image capturing means 55B (see FIG. 5B),some image redundancy will be seen by the operator. This can help theoperator establish the proper frame of reference for a given display, ifthe displays are being sequenced from one field of view to a neighboringfield of view. Similarly, when the operator selects a display formatcombining the images from two or more adjacent image capturing means,e.g. the images associated with the image capturing means 55A and 55B asseen in FIG. 5C, the relatively small amount of overlap between the twoor more images can be used by image processing means 85 to properlyregister the several images relative to one another. Furthermore, byvirtue of the fact that adjacent image capturing means 55 haveoverlapping fields of view, image processing means 85 can also beconstructed so as to generate a moving image which can be panned acrossthe surgical site in response to operator commands for the same. Thus,the operator can essentially pan the endoscope about the surgical siteat will so as to examine any areas of interest, without ever moving theendoscope from an initially established position.

FIG. 6 shows another endoscope 160. Endoscope 160 is substantiallyidentical to endoscope 5 shown in FIG. 1 and to endoscope 155 shown inFIG. 4, except that endoscope 160 has its image capturing means 55positioned, and its lens means 75 formed, so that the field of view foreach image capturing means 55 significantly overlaps the fields of viewfor its neighboring image capturing means 55. As a result of thisconstruction, when the operator moves from the field of view for oneimage capturing means 55A (see FIG. 7A) to the field of view for anadjacent image capturing means 55B (see FIG. 7B), significant imageredundancy will be seen by the operator. Similarly, when the operatorselects a display combining the images from two or more adjacent imagecapturing means, e.g. the images associated with the image capturingmeans 55A and 55B as seen in FIG. 7C, there will be a very substantialamount of overlap between the simultaneously-displayed images. By takingadvantage of this feature, image processing means 85 can generatestereoscopic views (see FIG. 7D) on display 145 by using the overlappingfields of view of two adjacent image capturing means 55 in ways wellknown in the art. Display apparatus 145 may be adapted to providedistinct views to the left and right eyes using one of a variety ofstereoscopic display means well known in the art.

With the endoscopes 5, 155 and 160 shown in FIGS. 1, 4 and 6,respectively, the fields of view 65 for each of the image capturingmeans 55 are shown to be substantially the same as one another. However,it should be appreciated that this does not necessarily need to be thecase. More particularly, inasmuch as each of the image capturing means55 has its own lens means 75 associated therewith, these lens means 75can be varied from one another as desired so as to give each of theimage capturing means 55 the desired field of view. Thus, for example,the image capturing means 55 disposed closer to distal end surface 20might be given a narrower field of view coupled with a higher opticalmagnification, whereas the image capturing means 55 disposed furtherfrom distal end surface 20 might be given a wider field of view coupledwith a lesser optical magnification. Other arrangements of this typewill be obvious to those skilled in the art.

Similarly, to the extent that they are provided, the non-visual sensormeans 115 need not all be the same as one another. For example, some ofthe non-visual sensor means 115 provided on an endoscope might beultrasound sensors, while others of the non-visual sensor means 115 onthe same endoscope might be temperature sensors.

Furthermore, with endoscopes 5, 155 and 160 shown in FIGS. 1, 4 and 6,respectively, all of the image capturing means 55 are shown as beingdirected substantially radially outboard of the endoscope's side wall30. It is to be understood, however, that the present invention is notlimited to such devices. Thus, for example, the image capturing means 55could be directed obliquely outboard from the side wall of theendoscope. Similarly, to the extent that they are provided, illuminationmeans 90 and non-visual sensor means 115 could be likewise directed.

In addition to the foregoing, the image capturing means 55 (and/orillumination means 90 and/or non-visual sensor means 115) can also bemounted in the distal end surface of the endoscope so as to be directedat the area located distally of the endoscope. Thus, for example,additional image capturing means 55 (and/or illumination means 90 and/ornon-visual sensor means 115) can be mounted in the substantially planardistal end wall 20 of endoscopes 5, 155 and 160 shown in FIGS. 1, 4 and6, respectively. In such an arrangement, these additional imagecapturing means 55 (and/or illumination means 90 and/or non-visualsensor means 115) could be oriented so that they are aligned with theendoscope's longitudinal axis 12, or they could be oriented so that theyface at an oblique angle to the endoscope's longitudinal axis 12.Alternatively, the image capturing means 55 (and/or illumination means90 and/or non-visual sensor means 115) can be disposed in a distal endwall having a configuration other than the substantially planar oneshown in the endoscopes 5, 155 and 160 of FIGS. 1, 4 and 6,respectively.

More particularly, and looking now at FIGS. 8 and 9, the distal end wall165 of an endoscope 170 is shown. Endoscope 170 may be any one of theendoscopes 5, 155 and 160 shown in FIGS. 1, 4 and 6, respectively,modified as hereinafter described, or it may be some other endoscopehaving an elongated shaft. In any case, a semispherical end wall 165closes off the distal end of the endoscope. A plurality of imagecapturing means 55 (preferably each with an associated illuminationmeans 90 and a non-visual sensor means 115) are also provided.Preferably the image capturing means 55 are disposed in semisphericalend wall 165 so that their fields of view overlap one another slightly.In this way the plurality of image capturing means 55 disposed insemispherical end wall 165 will collectively form a sort of fisheyearrangement. As a result of this construction, when the operator movesfrom the field of view for one image capturing means 55Q (see FIG. 10A)to the field of view for an adjacent image capturing means 55R (see FIG.10B), some image redundancy will be seen. Similarly, when the operatorselects a display combining the images from two or more adjacent imagecapturing means, e.g. the images associated with image capturing means55Q and 55R as seen in FIG. 10C, there will be some overlap between thesimultaneously displayed images. By combining the images associated withimage capturing means 55Q, 55R, 5S, 55T and 55U, a fisheye type of imagemay be generated (see FIG. 10D). Of course, it should also beappreciated that image capturing means 55 can be arranged insemispherical end wall 165 so as to have substantially no image overlap,or the image capturing means 55 can be arranged so as to havesignificant image overlap, whereby stereoscopic views can be generated.Looking next at FIGS. 11 and 12, another endoscope 175 is shown which isalso formed in accordance with the present invention. Endoscope 175comprises an elongated shaft 180 having a longitudinal axis 185, adistal end 190 terminating in an annular end surface 195, a proximal end197, and a passageway 200 extending between distal end 190 and proximalend 197. An image capturing means 202 is disposed at the distal end ofthe endoscope. More particularly, image capturing means 202 comprises asemispherical lens means 205 located adjacent to the shaft's annulardistal end surface 195, and a substantially planar CCD element 210disposed within interior passageway 200 so as to be adjacent to andsubstantially coplanar with annular distal end surface 195. CCD element210 is arranged so that its light-receiving cells 215 (FIG. 12) facedistally towards semispherical lens 205. Connecting means 220 connectthe output of CCD element 210 to image processing means 225, which arein turn connected to a display 230 by connecting means 235. Imageprocessing means 225 generally comprise a preprogrammed digital computerand appropriate user controls through which the operator may direct theimage processing means. As a result of this construction, semisphericallens means 205 will focus an image of a broad field of view 240 onto theplanar CCD element 210. Accordingly, the image of any objects and/orstructures located within field of view 240 will be received by the CCDelement's light-receiving cells 215 and converted into correspondingelectrical signals. These signals are then fed into image processingmeans 225 for selection, processing and display on display 230.

More particularly, by appropriately programming image processing means225, the operator will be able to view on display 230 either thecomplete fisheye image captured by lens means 205 or some limitedportion thereof. In this respect it is to be appreciated that in somecircumstances the full image captured by lens means 205 may be too largeor too complex to be viewed all at once on display 230. In this case,the operator may command image processing means 225 (using appropriateuser interface controls) to display the output from only some of the CCDelement's cells 215 on display 230. For example, the operator mayinstruct image processing means 225 to display the output from the cellmatrix 240 shown in FIG. 12, where cell matrix 240 comprises a subset ofthe full set of cells making up CCD element 210. This will in turn causeonly a portion of the full image captured by lens means 205 to bedisplayed on display 230. Furthermore, by providing appropriate userinterface controls, the operator can also instruct image processingmeans 225 to alter the subset of CCD cells 215 being monitored, so as tochange the image being displayed on display 230. Thus it will be seenthat by providing the operator with appropriate user interface controls,the operator can instruct image processing means 225 to dynamically"mov" its active cell matrix 240 about the surface of CCD element 210 soas to effectively change the image being displayed on display 230. Inthis way the image being presented on display 230 can be electronicallysteered by the operator using appropriate user interface controls, allwithout the endoscope ever being moved from an initially establishedposition at a surgical site.

With the design of FIGS. 11 and 12, CCD element 210 is located at thedistal end of shaft 180, adjacent to semispherical lens 205. However, ifdesired, CCD element 210 can be moved to the proximal end of shaft 180,and a plurality of fiber optic filaments or a rod-lens system of thesort well known in the art can be used to carry the image fromsemispherical lens 205 to CCD element 210. Illumination means may alsobe provided on endoscope 175 if desired.

A variation of the concept shown in FIGS. 11 and 12 is shown in FIGS. 13and 14. More specifically, an endoscope 245 is shown which has itssemispherical lens means 205 disposed at an oblique angle relative tothe longitudinal axis of the endoscope. A bundle 250 of fiber opticfilaments conveys the image captured by lens means 205 through theendoscope's shaft to the CCD element 210, which is disposed at theproximal end of the endoscope. Connecting means 220 feed the output ofthe CCD element's individual cells 215 to image processing means 225.Another bundle 255 of fiber optic filaments may be used to deliver lightfrom light source 260 to the region being viewed. As with the endoscope180 shown in FIGS. 11 and 12, an operator using the endoscope 245 shownin FIGS. 13 and 14 can view the entire image captured by lens means 205or some reduced portion thereof. Furthermore, in this latter case, byproperly instructing image processing means 225 using appropriate userinterface controls, the operator can electronically alter the portion ofthe image being displayed through display 230, so as to electronically"steer" the endoscope to the region of interest. In addition to theforegoing, it will also be appreciated that with the endoscope 245 shownin FIGS. 13 and 14, the operator will also be able to manually adjustthe image being observed by the endoscope by rotating the endoscopeabout its longitudinal axis, since this will cause the endoscope'sobliquely oriented lens to change its direction of view.

If desired, the bundle 250 of fiber optic filaments shown in FIG. 13 canbe replaced with an equivalent rod-lens arrangement, where a pluralityof rod-lens elements convey the image captured by lens means 205 throughthe endoscope's shaft to the CCD element 210. Alternatively, the CCDelement 210 can be moved down to the distal end of the endoscopeadjacent to lens means 205, and the bundle 250 of fiber optic filamentsomitted entirely. In this arrangement connecting means 220 would extendthrough the body of the endoscope so as to connect CCD element 210 toimage processing means 225.

It is also anticipated that one might place a fly's eye lens in front ofthe endoscope's CCD element. More particularly, and looking next at FIG.15, an endoscope 260 is shown. Endoscope 260 comprises a plurality ofimage capturing means 265 and a plurality of illumination means 270.Each of the image capturing means 265 comprises a CCD element 275 havinga substantially planar array of light-receiving CCD cells, and a fly'seye lens 280 having a plurality of separate focusing elements 283.Preferably CCD element 275 is disposed adjacent to fly's eye lens 280 sothat one or more of the CCD element's light-receiving cells is alignedwith one of the fly's eye lens focusing elements 283. In one preferredembodiment, a plurality of CCD cells are aligned with each of thefocusing elements 283.

With the endoscope 260 shown in FIG. 15, each of the image capturingmeans 265 is connected to appropriate image processing means byconnecting means 220. These image processing means are adapted so thatthe operator can select which one or ones of the images from one or moreof the image capturing means 265 are to be displayed on a screen,wherein the image from a particular image capturing means can comprisethe signals from some or all of its CCD cells.

A variation of this concept is shown in FIG. 16. More particularly, anendoscope 285 is shown which comprises a single image capturing means265 and a plurality of illumination means 270. The image capturing means265 comprises a CCD element 275 having a substantially planar array oflight-receiving CCD cells, and a fly's eye lens 280 having a pluralityof separate focusing elements 283. Again, CCD element 275 is preferablydisposed adjacent to the fly's eye lens 280 so that one or more of theCCD element's light-receiving cells is aligned with one of the fly's eyelens' focusing elements 283.

Still another variation of this concept is shown in FIG. 17. Moreparticularly, an endoscope 290 is shown which comprises a single imagecapturing means 295. Image capturing means 295 comprises a CCD element300 having a substantially semispherical array of light-receiving CCDcells, and a semispherical fly's eye lens 305 having a plurality ofseparate focusing elements 310. CCD element 300 is preferably disposedadjacent to fly's eye lens 305 so that one or more of the CCD element'slight-receiving cells is aligned with one of the fly's eye lens'focusing elements 310.

With the endoscopes 285 and 290 of FIGS. 16 and 17, respectively, imagecapturing means 265 and 295 are connected to appropriate imageprocessing means by connecting means 220. These image processing meansare adapted so that the operator can select the image to be viewed fromthe set of some or all of the CCD element's light receiving cells.

An endoscope can also be formed in which the image capturing meanscomprise continuous arrays of CCD cells positioned on the side wall ofthe endoscope. More particularly, and looking next at FIG. 18, anendoscope 315 is shown in which continuous bands 320 of CCD cells 322extend circumferentially around the distal end of the endoscope's shaft.Appropriate lens elements (not shown) are preferably positioned over CCDcells 322. In the embodiment shown in FIG. 18, CCD bands 320 arelongitudinally spaced from each other and from the distal end surface325 of endoscope 315. These bands 320 may be flanked at their distal andproximal edges by radially aligned and circumferentially spacedpluralities of illuminating means 330 and non-visual sensor means 335,respectively. CCD cells 322 are connected to appropriate imageprocessing means by connection means 220. The foregoing configurationpermits the operator to access images of substantially all locationsdisposed radially of CCD bands 320, by selectively reading the output ofthe appropriate CCD cells 322.

Of course, the spacing of bands 320 may be as close together, or as farapart, as desired. Therefore, in the case shown in FIG. 19, the entiredistal end of the endoscope 340 may be covered by an array of CCD cells322, except for where illumination means 330 and/or non-visual sensormeans 335 project through the array. Alternatively, illumination means330 and non-visual sensor means 335 may be omitted entirely from theendoscope, as in the case of endoscope 345 shown in FIG. 20. In thelatter case, illumination of the volume surrounding endoscope 345 (whichwould constitute the total possible viewing field of the device) wouldbe provided either by separate illumination means or by the ambientconditions of the environment in which the endoscope is being used.Again, with the endoscopes 315, 340 and 345 of FIGS. 18-20, CCD cells322 are connected to appropriate image processing means by connectionmeans 220, where the image processing means are adapted to access theoutput signals from any subset of the cells 322. Furthermore, it is tobe appreciated that with the endoscopes 315, 340 and 345 of FIGS. 18-20,appropriate lens elements (not shown) are preferably positioned over CCDcells 322. Also, it should be appreciated that the endoscopes 315, 340and 345 could have their distal end surfaces 325 covered with CCD cells322 as well.

It will be appreciated that the internal diameter of a standardendoscope is limited. Accordingly, in those situations where it isdesired to utilize a large number of CCD elements and/or non-visualsensor means on the endoscope, the number of separate connecting meansextending between these elements and their associated processing meansmay become too large to fit conveniently through the shaft of theendoscope. In this case, the various outputs from the image capturingmeans and/or the non-visual sensor means may be multiplexed, asrepresentatively shown in FIG. 21. More particularly, a plurality ofrepresentative CCD elements 70 are shown in FIG. 21. The outputs fromthese CCD elements 70 are multiplexed through a multiplexor 350 so thattheir output signals can be transmitted through the endoscope's shaft bya reduced number of wires 352. A control line 354 connected to imageprocessing means 85 controls the operation of multiplexor 350. Ofcourse, other means will also be apparent to those skilled in the artfor reducing the number of wires extending through the endoscope'sshaft.

It is also to be understood that the image capturing means 55 may bedisposed in the openings 60 in a variety of different ways. For example,the lens means 75 and CCD element 70 may be disposed in the side wall 30of the endoscope such that the outer surface of the lens means isrecessed slightly relative to side wall 30, as shown in FIG. 22.Alternatively, the lens means 75 and CCD element 70 might be located inside wall 30 such that the outer surfaces of the lens means are disposedsubstantially flush with side wall 30, as shown in FIG. 23. Finally, thelens means 75 and CCD element 70 might be located in side wall 30 suchthat the outer surfaces of the lens means are disposed outboard of sidewall 30, as shown in FIG. 24.

Furthermore, while in the foregoing description the invention has beendescribed principally in the context of comprising an improved endoscopefor use in a remote surgical site, it will also be appreciated that thepresent invention is equally applicable to viewing devices used in awide variety of other applications. Thus, for example, the presentinvention might be incorporated in a viewing system used to examine theinteriors of pipelines or nuclear reactors or large complex machinessuch as jet engines. Furthermore, the present invention might beincorporated in portable video cameras or video security systems so asto provide electronically steerable lens systems for the same. These andother applications of this type will be obvious to persons skilled inthe art.

Numerous other alterations, modifications, variations, changes and thelike will also be apparent to those skilled in the art, in view of theforegoing description of the invention. Accordingly, it should beunderstood that the foregoing description has been presented by way ofillustration and not by way of limitation. The scope of the presentinvention is intended to be limited only by the terms of the appendedclaims.

What is claimed is:
 1. An endoscope comprising:an elongated shaft, saidelongated shaft having a distal end terminating in a distal end surface,a proximal end, an outer side wall extending from said distal end tosaid proximal end, and at least one internal passageway extending fromsaid distal end to said proximal end; a multiplicity of image capturingmeans being disposed on one or both of said outer side wall and saiddistal end surface so as to face outwardly therefrom in spacedrelationship to one another, each of said image capturing meanscomprising lens means for defining an outwardly facing field of view forthat image capturing means, and each of said image capturing means beingadapted to capture an image of any object located within said field ofview and to convert that image into corresponding signals, with saidimage capturing means being arranged so that each of said multiplicityof image capturing means has a substantially different field of view, atleast one of said image capturing means being disposed adjacent to firstand second of the other of said image capturing means and disposedtherebetween, and disposed adjacent to third and fourth of other of saidimage capturing means and disposed therebetween; processing meansassociated with said proximal end of said shaft, said processing meansbeing adapted to receive said corresponding signals from said imagecapturing means and to generate display comprising one or more of saidimages at said proximal end of said shaft; and a multiplicity ofconnecting means for connecting each of said image capturing means tosaid processing means.
 2. An endoscope according to claim 1 wherein atleast one of said image capturing means comprises a CCD element.
 3. Anendoscope according to claim 1 wherein at least one of said imagecapturing means comprises a bundle of fiber optic filaments and a CCDelement, said bundle of fiber optic filaments having a distal end and aproximal end, and further wherein said distal end of said bundle facesoutwardly from said distal end of said shaft, and said CCD element facessaid proximal end of said bundle.
 4. An endoscope according to claim 1wherein at least one of said image capturing means comprises a rod-lenssystem, said rod-lens system having a distal end and a proximal end, andfurther wherein said distal end of said rod-lens system faces outwardlyfrom said distal end of said shaft, and said CCD element faces saidproximal end of said rod-lens system.
 5. An endoscope according to claim1 wherein said endoscope further comprises illumination means forilluminating said fields of view.
 6. An endoscope according to claim 5wherein said illumination means comprise at least one light source. 7.An endoscope according to claim 6 wherein said at least one light sourceis located adjacent to said proximal end of said shaft, and furtherwherein fiber optic filaments extend from said at least one light sourcethrough said at least one interior passageway to at least one windowformed in said outer wall of said shaft.
 8. An endoscope according toclaim 6 wherein said at least one light source provides light to amultiplicity of windows in said shaft, each of said windows beingproximate a respective one of said image capturing means.
 9. Anendoscope according to claim 1 wherein said endoscope further comprisesnon-visual sensor means facing outwardly from said distal end of saidshaft, said non-visual sensor means being adapted to obtain non-visualinformation regarding any objects located within or near said fields ofview.
 10. An endoscope according to claim 9 wherein said non-visualsensor means are selected from the group consisting of ultrasoundsensors, temperature sensors, pressure sensors, chemical sensors andradiation sensors.
 11. An endoscope according to claim 1 wherein saidendoscope further comprises illumination means for illuminating saidfields of view, and non-visual sensor means for obtaining non-visualinformation with respect to any objects located within or near saidfields of view.
 12. An endoscope according to claim 11 wherein one ofsaid illumination means and one of said non-visual sensor means isgrouped with each of said image capturing means.
 13. An endoscopeaccording to claim 1 wherein the field of view for each of said imagecapturing means overlaps with the field of view of at least one of saidadjacent image capturing means.
 14. An endoscope according to claim 1wherein at least one of said image capturing means is disposed in saiddistal end surface.
 15. A method for selectively viewing one or moreimages of objects located at a remote site, said method comprising thesteps of:(a) providing an endoscope comprising:an elongated shaft, saidelongated shaft having a distal end, a proximal end, an outer side wallextending from said distal end to said proximal end, and at least oneinternal passageway extending from said distal end to said proximal end;a multiplicity of image capturing means being disposed on one or both ofsaid outer side wall and said distal end so as to face outwardlytherefrom in spaced relationship to one another, each of said imagecapturing means comprising lens means for defining an outwardly facingfield of view for that image capturing means, and each of said imagecapturing means being adapted to capture an image of any objects locatedwithin said field of view and to convert that image into correspondingsignals, with said image capturing means being arranged so that amultiplicity of said image capturing means have substantially differentfields of view, each of said image capturing means being disposedadjacent to and between first and second of other of said imagecapturing means and disposed adjacent to and between third and fourth ofother of said image capturing means;processing means associated withsaid proximal end of said shaft, said processing means being adapted toreceive said corresponding signals from said image capturing means andto generate a display comprising one or more of said images at saidproximal end of said shaft; and a multiplicity of connecting means forconnecting each of said image capturing means to said processing means;(b) positioning said distal end of said shaft at said remote site sothat said distal end of said shaft lies substantially adjacent to anobject located at said remote site; and (c) operating said processingmeans so as to generate a plurality of different displays comprising oneor more of said images without further movement of said endoscope.